Training in problem solving in kinematics at a modern children’s technology park

Abstract

The article describes the issues of development and programming of robot manipulators based on robotics kits in a children’s technology park. It covers the fundamental knowledge elements from mathematics and mechanics for solving direct and inverse kinematics problems. A manipulator consists of several links and an end effector, which form kinematic pairs performing translational or rotational movements relative to each other. The direct kinematic problem involves calculating the coordinates of the end effector given the known values of the joint angles, while the inverse kinematics problem is the opposite, calculating the joint angles of the manipulator given the known coordinates of the end effector. Solving these problems requires knowledge of basic coordinate systems, the Pythagorean theorem, trigonometric functions and the cosine theorem, all of which are described in the article. The ability to solve kinematics problems is crucial for successful manipulator programming as a whole. The article also provides an example of converting step motor steps into end effector coordinates and discusses the dependence of manipulator accuracy on the characteristics of the step motor.